Beijer Electronics BFI-P2 User Manual
CANopen USER GUIDE Beijer Electronics Automation AB
BFI-P2 CANopen Manual
Author: Ning Xu
Date: 6th February 2012
Revision: 1.10
General:
The CANopen communication profile in the P2 drive is implemented according to the specification DS301
version 4.02 of CAN in automation (www.can-cia.de). Specific device profiles such as DS402 are not supported.
Operation Setup:
The CANopen communication function is enabled by default after power up. However in order to use any
control functions through CANopen, user has to set drive parameter P1-12=6.
The CAN communication baud rate can be set by using parameter P5-02. Available baud rates are:
125kbps, 250kbps, 500kbps, 1Mbps. (with default settings as 500kbps)
The Node ID is set up through drive address parameter P5-01 with a default value of 1.
The RJ45 socket is used as CAN signal physical connector with the signals layout as shown blow:
1: CANopen - 2: CANopen +
3: 0V 4: RS485- (Optibus)
5: RS485+ (Optibus) 6: +24V
7: RS485- (Modbus) 8: RS485+ (Modbus)
Optidrive P2 provides the following default COB-ID and functions:
Table 1 : Messages and COB-IDs
Type COB-ID Function
NMT 000h Network management
Sync 080h Synchronous message
COB-ID can be configured to other value.
Emergency 080h + Node address Emergency message
COB-ID can be configured to other value.
PDO1 (TX) 180h + Node address
PDO1 (RX) 200h + Node address
PDO2 (TX) 280h + Node address
PDO2 (RX) 300h + Node address
SDO (TX) 580h + Node address
SDO (RX) 600h + Node address
Error Control 700h + Node address Guarding and Heartbeat function are supported.
Process data object.
PDO1 is pre-mapped and enabled by default.
PDO2 is pre-mapped and disabled by default.
Transmission mode, COB-ID and mapping can be configured.
SDO channel can be used for drive parameter access.
COB-ID can be configured to other value.
Note:
1. The Optidrive P2 SDO channel only supports expedited transmission.
2. The Optidrive P2 can only support up to 2 Process Data Objects (PDO). All PDOs are pre-mapped, however
PDO2 is disabled by default. Table 2 gives the default PDO mapping information.
3. Customer configuration (mapping) will NOT be saved during power down. This means that the CANopen
configuration will restore to its default condition each time the drive is powered up.
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CANopen USER GUIDE Beijer Electronics Automation AB
Table 2: PDO Default Mapping
Objects
RX
PDO 1
TX
PDO1
RX
PDO 2
TX
PDO2
No.
1 2000h Unsigned 16 Control command register
2 2001h Integer 16 Speed reference
3 2002h Integer 16 Torque reference
4 2003h Unsigned 16 User ramp reference
1 200Ah Unsigned 16 Drive status register
2 200Bh Integer 16 Motor speed Hz
3 200Dh Unsigned 16 Motor current
4 200Eh Integer 16 Motor torque
1 0006h Unsigned 16 Dummy
2 0006h Unsigned 16 Dummy
3 0006h Unsigned 16 Dummy
4 0006h Unsigned 16 Dummy
1 200Fh Unsigned 16 Motor power
2 2010h Integer 16 Drive temperature
3 2011h Unsigned 16 DC bus value
4 200Ch Integer 16 Motor speed (Internal data format)
* Drive control can only be achieved when P1-12=6
Mapped
Object
Length Mapped Function
Transmission
Type
254
Valid immediately
254
Send after receiving
RX PDO1
254
254
PDO transmission type:
Various transmission modes can be selected for each PDO.
For RX PDO, the following modes are supported:
Table 3: RX PDO Transmission Mode
Transmission Type Mode Description
0 – 240 Synchronous
254, 255 Asynchronous
For TX PDO, the following modes are supported:
Table 4: TX PDO Transmission Mode
Transmission Type Mode Description
0 Acyclic synchronous
1 - 240 Cyclic synchronous
254 Asynchronous
255 Asynchronous
The received data will be transferred to the drive active control
register when the next sync message is received.
The received data will be transferred to the drive active control
register immediately without delay.
TX PDO will only be sent out if the PDO data has changed and
PDO will be transmitted on reception of SYNC object
TX PDO will be transmitted synchronously and cyclically. The
transmission type indicates the number of SYNC object that are
necessary to trigger TX PDO.
TX PDO will only be transferred once corresponding RX PDO has
been received.
TX PDO will only be transferred anytime if PDO data value has
changed.
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CANopen USER GUIDE Beijer Electronics Automation AB
CANopen specific Object table:
Table 5: Communication Profile Object Dictionary
Index
1000h 0 Device type RO Unsigned 32 N 0
1001h 0 Error register RO Unsigned 8 N 0
1002h 0 Manufacturer status register RO Unsigned 16 N 0
1005h 0 COB-ID Sync RW Unsigned 32 N 00000080h
1008h 0 Manufacturer device name RO String N ODP2
1009h 0 Manufacturer hardware version RO String N x.xx
100Ah 0 Manufacturer software version RO String N x.xx
100Ch 0 Guard time [1ms] RW Unsigned 16 N 0
100Dh 0 Life time factor RW Unsigned 8 N 0
1014h 0 COB-ID EMCY RW Unsigned 32 N 00000080h+Node ID
1015h 0 Inhibit time emergency [100us] RW Unsigned 16 N 0
1017h 0 Producer heart beat time [1ms] RW Unsigned 16 N 0
1018h
1200h
1400h
1401h
1600h
1601h
1800h
1801h
1A00h
Sub
index
0 Identity object No. of entries RO Unsigned 8 N 4
1 Vendor ID RO Unsigned 32 N 0x0000031A
2 Product code RO Unsigned 32 N Drive depended
3 Revision number RO Unsigned 32 N x.xx
4 Serial number RO Unsigned 32 N e.g. 1234/56/789
0 SDO parameter No. of entries RO Unsigned 8 N 2
1 COB-ID client -> server (RX) RO Unsigned 32 N 00000600h+Node ID
2 COB-ID server -> client (TX) RO Unsigned 32 N 00000580h+Node ID
0 RX PDO1 comms param No. of entries RO Unsigned 8 N 2
1 RX PDO1 COB-ID RW Unsigned 32 N 40000200h+Node ID
2 RX PDO1 transmission type RW Unsigned 8 N 254
0 RX PDO2 comms param No. of entries RO Unsigned 8 N 2
1 RX PDO2 COB-ID RW Unsigned 32 N C0000300h+Node ID
2 RX PDO2 transmission type RW Unsigned 8 N 0
0 RX PDO1 mapping / No. of entries RW Unsigned 8 N 4
1 RX PDO1 1st mapped object RW Unsigned 32 N 20000010h
2 RX PDO1 2nd mapped object RW Unsigned 32 N 20010010h
3 RX PDO1 3rd mapped object RW Unsigned 32 N 20020010h
4 RX PDO1 4th mapped object RW Unsigned 32 N 20030010h
0 RX PDO2 mapping / No. of entries RW Unsigned 8 N 4
1 RX PDO2 1st mapped object RW Unsigned 32 N 00060010h
2 RX PDO2 2nd mapped object RW Unsigned 32 N 00060010h
3 RX PDO2 3rd mapped object RW Unsigned 32 N 00060010h
4 RX PDO2 4th mapped object RW Unsigned 32 N 00060010h
0 TX PDO1 comms param No. of entries RO Unsigned 8 N 3
1 TX PDO1 COB-ID RW Unsigned 32 N 40000180h+Node ID
2 TX PDO1 transmission type RW Unsigned 8 N 254
3 TX PDO1 Inhibit time [100us] RW Unsigned 16 N 0
0 TX PDO2 comms param No. of entries RO Unsigned 8 N 3
1 TX PDO2 COB-ID RW Unsigned 32 N C0000280h+Node ID
2 TX PDO2 transmission type RW Unsigned 8 N 0
3 TX PDO2 Inhibit time [100us] RW Unsigned 16 N 0
0 TX PDO1 mapping / No. of entries RW Unsigned 8 N 4
1 TX PDO1 1st mapped object RW Unsigned 32 N 200A0010h
2 TX PDO1 2nd mapped object RW Unsigned 32 N 200B0010h
3 TX PDO1 3
Function Access Type
rd
mapped object RW Unsigned 32 N 200D0010h
PDO
Map
Default value
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